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<li class="navelem"><a class="el" href="dir_9a5345e98321307492e41331ab8e5636.html">header_cn</a></li><li class="navelem"><a class="el" href="dir_a57403e30bad3723557b0550251f8216.html">libobsensor</a></li><li class="navelem"><a class="el" href="dir_8243e961fc5f523c63be320c0718524a.html">hpp</a></li>  </ul>
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<a href="Filter_8hpp.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="Types_8hpp.html">Types.hpp</a>&quot;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;functional&gt;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceob.html">ob</a> {</div><div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="namespaceob.html#a5c6cd771034a8052085dee9bdbbf80b0">   12</a></span>&#160;<span class="keyword">class </span><a class="code" href="classob_1_1Frame.html">Frame</a>;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">typedef</span> std::function&lt;void(std::shared_ptr&lt;Frame&gt;)&gt; <a class="code" href="namespaceob.html#a5c6cd771034a8052085dee9bdbbf80b0">FilterCallback</a>;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classob_1_1Filter.html">   19</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1Filter.html">Filter</a> {</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <a class="code" href="classob_1_1Filter.html">Filter</a>();</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="keyword">virtual</span> ~<a class="code" href="classob_1_1Filter.html">Filter</a>() = <span class="keywordflow">default</span>;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> reset();</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keyword">virtual</span> std::shared_ptr&lt;Frame&gt; process(std::shared_ptr&lt;Frame&gt; frame);</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> pushFrame(std::shared_ptr&lt;Frame&gt; frame);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> setCallBack(<a class="code" href="namespaceob.html#a5c6cd771034a8052085dee9bdbbf80b0">FilterCallback</a> callback);</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classob_1_1Filter.html#ac80715de348ec5eedcaa8eaf019b7587">   54</a></span>&#160;    std::shared_ptr&lt;FilterImpl&gt; <a class="code" href="classob_1_1Filter.html#ac80715de348ec5eedcaa8eaf019b7587">impl_</a>;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;};</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classob_1_1PointCloudFilter.html">   60</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1PointCloudFilter.html">PointCloudFilter</a> : <span class="keyword">public</span> <a class="code" href="classob_1_1Filter.html">Filter</a> {</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <a class="code" href="classob_1_1PointCloudFilter.html">PointCloudFilter</a>();</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordtype">void</span> setCreatePointFormat(<a class="code" href="ObTypes_8h.html#a30904eab1a667b797e7ce1099ba7c36a">OBFormat</a> type);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordtype">void</span> setCameraParam(<a class="code" href="structOBCameraParam.html">OBCameraParam</a> param);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordtype">void</span> setFrameAlignState(<span class="keywordtype">bool</span> state);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordtype">void</span> setPositionDataScaled(<span class="keywordtype">float</span> scale);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordtype">void</span> setColorDataNormalization(<span class="keywordtype">bool</span> state);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordtype">void</span> setCoordinateSystem(<a class="code" href="ObTypes_8h.html#aedf3502c5abaa3bfd8027d61e8f529de">OBCoordinateSystemType</a> type);</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;};</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classob_1_1FormatConvertFilter.html">  113</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1FormatConvertFilter.html">FormatConvertFilter</a> : <span class="keyword">public</span> <a class="code" href="classob_1_1Filter.html">Filter</a> {</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <a class="code" href="classob_1_1FormatConvertFilter.html">FormatConvertFilter</a>();</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordtype">void</span> setFormatConvertType(<a class="code" href="ObTypes_8h.html#ae57f11b2621f5e3b74a3983ad647133a">OBConvertFormat</a> type);</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;};</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classob_1_1CompressionFilter.html">  128</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1CompressionFilter.html">CompressionFilter</a> : <span class="keyword">public</span> <a class="code" href="classob_1_1Filter.html">Filter</a> {</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <a class="code" href="classob_1_1CompressionFilter.html">CompressionFilter</a>();</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keywordtype">void</span> setCompressionParams(<a class="code" href="ObTypes_8h.html#ab079007f3780abff51925354f8b59a15">OBCompressionMode</a> mode, <span class="keywordtype">void</span> *params);</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;};</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classob_1_1DecompressionFilter.html">  144</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1DecompressionFilter.html">DecompressionFilter</a> : <span class="keyword">public</span> <a class="code" href="classob_1_1Filter.html">Filter</a> {</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <a class="code" href="classob_1_1DecompressionFilter.html">DecompressionFilter</a>();</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;};</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;}  <span class="comment">// namespace ob</span></div><div class="ttc" id="classob_1_1DecompressionFilter_html"><div class="ttname"><a href="classob_1_1DecompressionFilter.html">ob::DecompressionFilter</a></div><div class="ttdoc">DecompressionFilter 类, 用于解压压缩帧, 如 Depth、Ir 帧 </div><div class="ttdef"><b>Definition:</b> <a href="Filter_8hpp_source.html#l00144">Filter.hpp:144</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a30904eab1a667b797e7ce1099ba7c36a"><div class="ttname"><a href="ObTypes_8h.html#a30904eab1a667b797e7ce1099ba7c36a">OBFormat</a></div><div class="ttdeci">OBFormat</div><div class="ttdoc">描述像素格式的枚举值 </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00199">ObTypes.h:199</a></div></div>
<div class="ttc" id="classob_1_1Frame_html"><div class="ttname"><a href="classob_1_1Frame.html">ob::Frame</a></div><div class="ttdoc">定义 Frame 类 </div><div class="ttdef"><b>Definition:</b> <a href="Frame_8hpp_source.html#l00042">Frame.hpp:42</a></div></div>
<div class="ttc" id="classob_1_1Filter_html"><div class="ttname"><a href="classob_1_1Filter.html">ob::Filter</a></div><div class="ttdoc">Filter 类, 为点云 Filter、格式转换 Filter、压缩解压 Filter 的基类 </div><div class="ttdef"><b>Definition:</b> <a href="Filter_8hpp_source.html#l00019">Filter.hpp:19</a></div></div>
<div class="ttc" id="namespaceob_html"><div class="ttname"><a href="namespaceob.html">ob</a></div><div class="ttdef"><b>Definition:</b> <a href="Context_8hpp_source.html#l00014">Context.hpp:14</a></div></div>
<div class="ttc" id="ObTypes_8h_html_ab079007f3780abff51925354f8b59a15"><div class="ttname"><a href="ObTypes_8h.html#ab079007f3780abff51925354f8b59a15">OBCompressionMode</a></div><div class="ttdeci">OBCompressionMode</div><div class="ttdoc">压缩模式 </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00629">ObTypes.h:629</a></div></div>
<div class="ttc" id="classob_1_1FormatConvertFilter_html"><div class="ttname"><a href="classob_1_1FormatConvertFilter.html">ob::FormatConvertFilter</a></div><div class="ttdoc">FormatConvertFilter 类, 用于帧数据格式转换 </div><div class="ttdef"><b>Definition:</b> <a href="Filter_8hpp_source.html#l00113">Filter.hpp:113</a></div></div>
<div class="ttc" id="ObTypes_8h_html_aedf3502c5abaa3bfd8027d61e8f529de"><div class="ttname"><a href="ObTypes_8h.html#aedf3502c5abaa3bfd8027d61e8f529de">OBCoordinateSystemType</a></div><div class="ttdeci">enum OB_COORDINATE_SYSTEM_TYPE OBCoordinateSystemType</div></div>
<div class="ttc" id="structOBCameraParam_html"><div class="ttname"><a href="structOBCameraParam.html">OBCameraParam</a></div><div class="ttdoc">相机参数 </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00368">ObTypes.h:368</a></div></div>
<div class="ttc" id="Types_8hpp_html"><div class="ttname"><a href="Types_8hpp.html">Types.hpp</a></div><div class="ttdoc">提供 SDK 的结构体、枚举常量定义（依赖 libobsensor/h/ObTypes.h） </div></div>
<div class="ttc" id="classob_1_1Filter_html_ac80715de348ec5eedcaa8eaf019b7587"><div class="ttname"><a href="classob_1_1Filter.html#ac80715de348ec5eedcaa8eaf019b7587">ob::Filter::impl_</a></div><div class="ttdeci">std::shared_ptr&lt; FilterImpl &gt; impl_</div><div class="ttdef"><b>Definition:</b> <a href="Filter_8hpp_source.html#l00054">Filter.hpp:54</a></div></div>
<div class="ttc" id="classob_1_1CompressionFilter_html"><div class="ttname"><a href="classob_1_1CompressionFilter.html">ob::CompressionFilter</a></div><div class="ttdoc">CompressionFilter 类, 用于帧数据压缩, 如压缩 Depth、Ir 帧 </div><div class="ttdef"><b>Definition:</b> <a href="Filter_8hpp_source.html#l00128">Filter.hpp:128</a></div></div>
<div class="ttc" id="ObTypes_8h_html_ae57f11b2621f5e3b74a3983ad647133a"><div class="ttname"><a href="ObTypes_8h.html#ae57f11b2621f5e3b74a3983ad647133a">OBConvertFormat</a></div><div class="ttdeci">OBConvertFormat</div><div class="ttdoc">格式转换类型枚举 </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00423">ObTypes.h:423</a></div></div>
<div class="ttc" id="namespaceob_html_a5c6cd771034a8052085dee9bdbbf80b0"><div class="ttname"><a href="namespaceob.html#a5c6cd771034a8052085dee9bdbbf80b0">ob::FilterCallback</a></div><div class="ttdeci">std::function&lt; void(std::shared_ptr&lt; Frame &gt;)&gt; FilterCallback</div><div class="ttdef"><b>Definition:</b> <a href="Filter_8hpp_source.html#l00012">Filter.hpp:12</a></div></div>
<div class="ttc" id="classob_1_1PointCloudFilter_html"><div class="ttname"><a href="classob_1_1PointCloudFilter.html">ob::PointCloudFilter</a></div><div class="ttdoc">PointCloudFilter 类，用于生成点云 </div><div class="ttdef"><b>Definition:</b> <a href="Filter_8hpp_source.html#l00060">Filter.hpp:60</a></div></div>
<div class="ttc" id="ObTypes_8h_html_aa0add2ff45ff52cc75dc92d44f883fbf"><div class="ttname"><a href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a></div><div class="ttdeci">#define OB_EXTENSION_API</div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00025">ObTypes.h:25</a></div></div>
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